AUV Systems Core

Advanced Autonomous Underwater Vehicle (AUV) Systems Framework

A comprehensive ROS 2-based framework for developing, deploying, and managing autonomous underwater vehicle systems. Built for marine robotics applications with support for navigation, control, sensor integration, and mission planning.

🚀 Features

• Modular Architecture: Component-based design for easy customization and extension
• ROS 2 Integration: Full ROS 2 Humble support with modern C++ and Python APIs
• Hardware Support: Optimized for NVIDIA Jetson platforms and embedded systems
• Simulation Ready: Gazebo integration for testing and validation
• Docker Support: Containerized deployment for consistent environments
• Mission Planning: Advanced path planning and mission execution capabilities
• Sensor Integration: Support for IMU, depth sensors, cameras, and sonar systems
• Real-time Control: High-performance control loops for precise vehicle maneuvering

📋 Prerequisites

System Requirements

• Operating System: Ubuntu 22.04 LTS (recommended)
• ROS 2: Humble Hawksbill
• Python: 3.8 or higher
• CMake: 3.16 or higher
• C++: C++17 compatible compiler

Hardware Support

• NVIDIA Jetson AGX Orin/Xavier
• Intel NUC systems
• Custom embedded platforms

🛠️ Installation

Quick Start

1. Clone the repository

   git clone https://github.com/triton-mining/auv-systems-core.git
   cd auv-systems-core

2. Install dependencies

   # Install ROS 2 Humble (if not already installed)
   sudo apt update
   sudo apt install ros-humble-desktop-full
   
   # Install additional dependencies
   sudo apt install python3-colcon-common-extensions python3-rosdep
   sudo rosdep init
   rosdep update

3. Build the workspace

   colcon build --symlink-install
   source install/setup.bash

Docker Installation

# Build the Docker image
docker build -t auv-systems-core .

# Run with GUI support (for simulation)
docker run -it --rm \
  --privileged \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  auv-systems-core

🏗️ Project Structure

auv-systems-core/
├── src/                    # Source packages
│   ├── navigation/         # Navigation and path planning
│   ├── control/           # Vehicle control systems
│   ├── sensors/           # Sensor drivers and processing
│   ├── mission/           # Mission planning and execution
│   └── utils/             # Common utilities and tools
├── config/                # Configuration files
├── launch/                # Launch files
├── docs/                  # Documentation
├── tests/                 # Unit and integration tests
└── docker/                # Docker configurations

🚢 Usage

Basic Launch

# Launch the complete AUV system
ros2 launch auv_systems_core complete_system.launch.py

# Launch simulation environment
ros2 launch auv_systems_core simulation.launch.py

# Launch individual components
ros2 launch auv_systems_core navigation.launch.py
ros2 launch auv_systems_core control.launch.py

Mission Execution

# Load and execute a mission
ros2 run mission_planner mission_executor --mission-file missions/example_mission.yaml

# Monitor system status
ros2 topic echo /auv/status
ros2 topic echo /auv/navigation/pose

📊 Monitoring and Diagnostics

The system provides comprehensive monitoring capabilities:

• Real-time Status: Vehicle state, sensor health, and system performance
• Mission Progress: Current mission status and completion metrics
• Diagnostic Tools: Built-in diagnostics for troubleshooting
• Logging: Comprehensive logging for analysis and debugging

🧪 Testing

# Run unit tests
colcon test

# Run integration tests
colcon test --packages-select auv_systems_core

# Run with coverage
colcon test --packages-select auv_systems_core --cmake-args -DCMAKE_BUILD_TYPE=Debug

📚 Documentation

• API Documentation
• User Guide
• Developer Guide
• Hardware Setup
• Mission Planning

🤝 Contributing

We welcome contributions! Please see our Contributing Guidelines for details.

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add some amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

Development Setup

# Install development dependencies
pip install -r requirements-dev.txt

# Install pre-commit hooks
pre-commit install

# Run linting
pre-commit run --all-files

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

🏢 About Triton Mining Co

Developed by Triton Mining Co, a leader in marine robotics and autonomous underwater systems. Our mission is to advance underwater exploration and resource extraction through cutting-edge technology.

📞 Support

• Documentation: docs.triton-mining.com
• Issues: GitHub Issues
• Discussions: GitHub Discussions
• Email: [email protected]

🙏 Acknowledgments

• ROS 2 community for the excellent robotics framework
• NVIDIA for Jetson platform support
• Open source contributors and marine robotics researchers

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⚠️ Safety Notice: This software is designed for research and development purposes. Always follow proper safety protocols when operating autonomous underwater vehicles in real-world environments.

🔬 Research Use: This project is actively used in marine robotics research. If you use this software in your research, please cite our work appropriately.